#ifndef PATH_ALL_H
#define PATH_ALL_H

#include <QWidget>

namespace Ui {
class Path_ALL;
}

class Path_ALL : public QWidget
{
  Q_OBJECT

public:
  explicit Path_ALL(QWidget *parent = 0);
  QString csv_file_path = "/home/nvidia/test_ws/src/common/file/waypoint/tsy_newset_trajectory.csv";
  //卫星生成得到的csv的名字
  QString weixin_csv_name = "tsy_newset_trajectory.csv";
  //Trajectory_Saver保存位置
  //QString Trajectory_Saver_file_path = "/home/l/test_ws/src/run";
  QString Trajectory_Saver_file_path = "/home/nvidia/test_ws/src/run";
  //csv保存的路径
  //QString csv_pos_file_path = "/home/l/test_ws/src/common/file/waypoint";
  QString csv_pos_file_path = "/home/nvidia/test_ws/src/common/file/waypoint";

  //waypoint_loader.launch文件位置
  QString waypoint_loader_launch_path = "/home/nvidia/test_ws/src/planning/waypoint_maker/launch/waypoint_loader.launch";
  //QString waypoint_loader_launch_path = "/home/ubuntu/waypoint_loader.launch";

  //launch内部格式
  QString launch_geshi = QString("<!-- -->\n<launch>\n<group ns=\"planning\">\n  <node pkg=\"rostopic\" type=\"rostopic\" name=\"config_waypoint_loader_rostopic\"\n        args=\"pub -l /config/waypoint_loader autoware_msgs/ConfigWaypointLoader\n        '{ replanning_mode: 0, multi_lane_csv: '/home/nvidia/test_ws/src/common/file/waypoint/%1.csv' }' \"\n/>\n\n<!--'{ replanning_mode: 0, multi_lane_csv: '/home/nvidia/Teemo_ws/src/common/file/waypoint/Trajectory_for_loader.csv' }' \" -->\n\n  <arg name=\"disable_decision_maker\" default=\"true\" />\n\n\t<!-- rosrun waypoint_maker waypoint_loader _multi_lane_csv:=\"path file\" -->\n        <node pkg=\"waypoint_maker\" type=\"waypoint_loader\" name=\"waypoint_loader\" output=\"log\">\n\t<param name=\"disable_decision_maker\" value=\"$(arg disable_decision_maker)\" />\n  \t<remap from=\"/lane_waypoints_array\" to=\"lane_waypoints_array\"/>\n\t</node>\n        <node pkg=\"waypoint_maker\" type=\"waypoint_marker_publisher\" name=\"waypoint_marker_publisher\" />\n</group>\n\n</launch>\n");


  //yaml位置
  QString yaml_path = QString("/home/nvidia/test_ws/src/Ros_Qt5_Gui_App-rviz_tree/resources/rviz/ui.yaml");
  ~Path_ALL();

private:
  Ui::Path_ALL *ui;

};

#endif // PATH_ALL_H
